【摘要】 面向深海采矿机器人自主定位,采用自适应卡尔曼滤波算法,基于一种修正的长基线水声定位系统,对长基线水声定位系统对机器人位置的测量值和通过多普勒测速仪等其它传感器的测量值间接得到的关于机器人位置的推测值进行数据融合,得出某时刻机器人位置的最优估计。仿真结果印证了此方法具有很好的估计精度。更多还原

【Abstract】 In the research of location about deep-seabed mining robot vehicle,based on a kind of correctional long baseline positioning system,this paper introduces adaptive Kalman filter algorithm in order to fuse the conjectural value of positions by the long baseline positioning system and the conjectural value of positions that conjectured by Doppler sensor and other sensors,The optimization estimate about the position of the operating robot is obtained.The result of imitation shows the estimated precision is very good.更多还原